Design a Cost Effective Non-Holonomic Vehicle for Autonomous Driving Applications
نویسندگان
چکیده
In this paper we present the design of a car test bed. The main characteristic of our test bed is the steering which is Non-Holonomic to resemble the normal car steering. This test bed is a rear wheel drive with frontal steering by servo motor. The control brain consists of RoBoard II and Arduino Micro controller. We used multiple sensors (Ultrasonic range finder, 6 DOF Accelerometer, Wheel encoder and Stereo Camera). For communication, 150 Mbps wireless attaches to the RoBoard. We develop a C++ control framework for the basic test bed functions which includes (PID controller, Vision frame grabber and preprocessor and basic obstacle avoidance using Ultrasonic range finder). Key-Words: Test bed, Non-Holonomic, Sensors, Hardware Architecture, Software Architecture, PID controller.
منابع مشابه
Holonomic and Omnidirectional Vehicle with Conventional Tires - Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
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